Shareholders' Equity - Additional Information (Details)			12 Months Ended
	Jan. 01, 2021 shares	Jan. 01, 2020	Dec. 31, 2021 Vote shares	Dec. 31, 2019 shares	Dec. 31, 2014 $ / shares shares
Class Of Stock [Line Items]
Common stock voting rights description			Holders of our common stock are entitled to one vote for each share of common stock held
Number of vote for each share | Vote			1
Warrant issued to purchase stock			0
Series C Convertible Preferred Stock
Class Of Stock [Line Items]
Warrant issued to purchase stock					56,875
Warrant exercisable term					7 years
Weighted-average exercise price of warrants | $ / shares					$ 2.64
Common Stock
Class Of Stock [Line Items]
Stock issued during period, common stock			54,162	54,792
Maximum | Employee Stock Purchase Plan
Class Of Stock [Line Items]
Percentage of annual increases in number of shares		1.00%
2019 Equity Incentive Plan
Class Of Stock [Line Items]
Increase in share reserve	6,882,344
2019 Equity Incentive Plan | Maximum
Class Of Stock [Line Items]
Percentage of annual increases in number of shares		5.00%